TMDSIDK572: somethis wrong when I test IGH EtherCAT master

xuelin mo

Intellectual 335 points

Part Number: TMDSIDK572

Hi,

Hardware:https://www.ti.com.cn/product/cn/AM5729?keyMatch=TMDSIDK5729&tisearch=search-everything

software:https://software-dl.ti.com/processor-sdk-linux/esd/AM57X/latest/index_FDS.html

xenomai3.1, IGH EtherCAT master 1.5.2

I can start EtherCAT service successful, related information is as follows：

[ 122.302934] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 2eff7c993a63
[ 122.311531] EtherCAT: Accepting E4:15:F6:0D:C2:2E as main device for master 0.
[ 122.319327] ec_generic: Binding socket to interface 2 (eth0).
[ 122.357428] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 122.362724] EtherCAT 0: Link state of ecm0 changed to UP.
root@am57xx-evm:~# [ 122.377423] EtherCAT 0: 1 slave(s) responding on main device.
[ 122.383204] EtherCAT 0: Slave states on main device: PREOP.
[ 122.388996] EtherCAT 0: Scanning bus.
[ 125.625935] EtherCAT 0: Bus scanning completed in 3230 ms.
[ 125.631583] EtherCAT 0: Using slave 0 as DC reference clock.

But when I run the built-in test case examples/mini/ec_mini.ko，Some error messages are generated:

[ 196.187012] ec_mini: Starting...
[ 196.191828] EtherCAT: Requesting master 0...
[ 196.196411] EtherCAT: Successfully requested master 0.
[ 196.202363] ec_mini: Registering domain...
[ 196.206489] ec_mini: Configuring PDOs...
[ 196.210995] ec_mini: Registering PDO entries...
[ 196.215557] ec_mini: Activating master...
[ 196.220018] EtherCAT 0: Domain0: Logical address 0x00000000, 23 byte, expected working counter 5.
[ 196.229327] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 23 byte, type LRW.
[ 196.257448] EtherCAT 0: Master thread exited.
[ 196.261836] EtherCAT 0: Starting EtherCAT-OP thread.
[ 196.266934] ec_mini: Starting cyclic sample thread.
[ 196.272437] ec_mini: Started.
root@am57xx-evm:~# [ 196.377383] ec_mini: 1 slave(s).
[ 196.380643] ec_mini: AL states: 0x02.
[ 196.384330] ec_mini: Link is up.
[ 196.387417] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ 197.257376] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 197.387385] EtherCAT WARNING: Datagram e2428f43 (domain0-0-main) was SKIPPED 1 time.
[ 201.597510] EtherCAT ERROR 0-0: Timeout while setting state OP.
[ 201.617478] EtherCAT 0: Slave states on main device: SAFEOP.
[ 202.437383] ec_mini: AL states: 0x04.
[ 206.567392] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.